Universal bottomhole assembly node (UBHAN) providing communications to and from rotary steerable systems (RSS) and real time azimuthal resistivity imaging for geosteering and pressure while drilling (FWD) for well control

ABSTRACT

The systems and methods provide a universal bottom hole assembly node module. The universal bottom hole assembly node module comprises an azimuthal resistivity module, an azimuthal gamma module, a pressure while drilling module, or any combination thereof. The universal bottom hole assembly node module includes a communication system configured to provide two way communication between a rotary steerable system and a measurement while drilling system.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation-in-part of U.S. Ser. No.16/790,384 filed Feb. 13, 2020 titled “BOUNDARY TRACKING CONTROL MODULEFOR ROTARY STEERABLE SYSTEMS” which is a continuation of U.S.application Ser. No. 16/126,485, filed on Sep. 10, 2018 (now U.S. Pat.No. 10,648,319) which is a continuation of U.S. application Ser. No.15/937,459 filed on Mar. 27, 2018 (now U.S. Pat. No. 10,072,490), whichis a continuation-in-part of U.S. application Ser. No. 15/920,034 filedMar. 13, 2018 (now U.S. Pat. No. 10,253,614), which is a continuation ofU.S. application Ser. No. 15/696,543, filed Sep. 6, 2017 (now U.S. Pat.No. 9,952,347), which is a continuation of U.S. application Ser. No.15/466,507, filed Mar. 22, 2017 (now U.S. Pat. No. 9,767,153), whichclaims priority to U.S. application Ser. No. 14/993,165, filed Jan. 12,2016 (now U.S. Pat. No. 9,645,276), which claims priority to U.S.application Ser. No. 14/303,232, filed Jun. 12, 2014 (now U.S. Pat. No.9,268,053), which claims priority to U.S. Provisional Application No.61/834,272 filed Jun. 12, 2013, all of which are incorporated herein byreference in their entireties.

The application also claims priority to pending U.S. Ser. No. 16/421,738filed May 24, 2019 titled “Modular Resistivity Sensor for DownholeMeasurement While Drilling” which application is a continuation of U.S.Ser. No. 15/466,220 filed Mar. 22, 2017 (now U.S. Pat. No. 10,337,322)which application is a continuation of U.S. Ser. No. 14/307,293 filedJun. 17, 2014 (now U.S. Pat. No. 9,638,819) which application claimspriority from U.S. provisional application No. 61/836,577 filed Jun. 18,2013 and which applications are incorporated herein by reference intheir entirety.

The application also claims priority to pending U.S. Ser. No. 16/379,261titled “APPARATUS AND METHODS FOR MAKING AZIMUTHAL RESISTIVITYMEASUREMENTS” filed Apr. 9, 2019 which is a continuation of U.S. U.S.Ser. No. 14/738,071 filed Jun. 12, 2015 now U.S. Pat. No. 10,591,635which claims priority under 35 U.S.C. § 119(e) to U.S. ProvisionalPatent Application No. 62/012,163, filed Jun. 13, 2014, and whichapplications are incorporated herein by reference in their entirety.

FIELD OF THE INVENTION

Embodiments disclosed herein relate to Universal Bottomhole AssemblyNode (UBHAN) providing Communications to and from Rotary SteerableSystems, Real Time Azimuthal Resistivity and Azimuthal Gamma Imaging forGeosteering, Pressure While Drilling (PWD) for Well Control and DrillingHydraulics and Mud Motor Efficiency. The node enables the RSS withdecision making in real time for optimum well placement andcommunications between the RSS and MWD if needed. The node provides realtime pressure while drilling to ensure safe drilling and preventblowouts and to allow drilling hydraulics efficiency and mud motorefficiency analysis as an effective way to control the expenses for thewell.

BACKGROUND AND SUMMARY

The Boundary Tracking Control Module (BTCM) utilizes an antenna arrayfor azimuthal resistivity measurements and may be used for new builds.In some applications, the BTCM may require power from the rotarysteerable system (RSS) and may not provide communications between theRSS and the measurement while drilling (MWD) above a mud motor.

Sugiura et al. US2019/0265381 A1 Aug. 29, 2019 Azimuthal Measurement forGeosteering teaches using formation anisotropy and/or azimuthallyassociated calculations of formation strength. However, the depth ofinvestigation is very small and typically would not prevent exiting theformation of interest.

Bittar et al. Multimodal Geosteering Systems and Methods U.S. Pat. No.8,347,985 B2, Jan. 8, 2013 teaches classical azimuthal and seismicazimuthal measurements for processing at the surface for analysis anddecision-making. Unfortunately, such approaches are usually not suitablefor downhole direct interaction with the RSS because of various toollimitations.

Bayliss et al. Directional Drilling Attitude Hold Controller U.S. Pat.No. 9,835,020 B2, Dec. 5, 2017 teaches automatic attitude control of theRSS which is pure geometrical steering. While the methodology may keepRSS on a general course for maintaining constant attitude (VerticalDepth) along the pre-programmed well profile, the RSS is limited to thisparameter only without any decision making.

Thus, what is needed is a system that could provide communications to,from, and/or between a Rotary Steerable System (RSS) and an MWD system.It would further be advantageous if such a system could provideAzimuthal Resistivity and Azimuthal Gamma values to RSS for potentialreal time geosteering. It would further be advantageous if the systemcould provide Pressure While Drilling (PWD) for well control andhydraulics analysis for drilling optimization to the surface system(SS). Advantageously, the systems described herein may accomplish one ormore or even all of the aforementioned needs and also have furtheradvantages over conventional bottom hole assemblies.

The present application pertains to a Universal Bottom Hole AssemblyNode (UBHAN) for providing communications to, from, and/or betweenRotary Steerable System (RSS) and MWD system, Azimuthal Resistivity andAzimuthal Gamma values to RSS for real time geosteering, and PressureWhile Drilling (PWD) for well control and hydraulics analysis fordrilling optimization to the surface system (SS). UBHAN is configured toreceive RSS drilling parameters such as, for example, Inclination andAzimuth parameters. If desired, one or more of these parameters may besent to the surface to, for example, provide communications to, from,and/or between Rotary Steerable System (RSS) and MWD system, AzimuthalResistivity and Azimuthal Gamma values to RSS for real time geosteering,and Pressure While Drilling (PWD) for well control and hydraulicsanalysis for drilling optimization to a surface system (SS).

The surface system (SS), if employed, may use various parameters such asthe measured and/or vertical depth to calculate, for example, theposition of the RSS. The SS may be configured to send correctioncommands down to the MWD if or as necessary. The MWD may send messagesto the UBHAN and the UBHAN can then, if desired, send data to RSS forexecution. In some embodiments, UBHAN may also send AzimuthalResistivity (AziRes) data and/or Azimuthal Gamma (AziG) data directly orindirectly to the RSS for real time geosteering decisions and/orexecution. That is, for example, the RSS may be instructed to follow aprovided boundary at some predetermined distance. The same or similarAziRes and/or AziG data may be sent to the MWD for transmission to theSS for analysis and/or decisions provided based on certain geologicalinformation. The system may send PWD data to the MWD and SS for wellcontrol analysis and/or actions if or as necessary. Annulus and/or BorePWD data may allow for optimization of the drilling parameters and/orevaluation of motor efficiency. Data sent downhole from the SS mayinclude, for example, correction commands for the RSS.

In one embodiment, the application pertains to a bottom hole assembly.The assembly comprises a stabilizer wherein a first stabilizer end isoperably attached to a first end of a rotary steerable system. Theassembly also comprises a drill bit operably attached to a second end ofthe rotary steerable system. An assembly node system is attached to thesecond stabilizer end. The assembly node system comprises a mud motorconfigured to power the bottom hole assembly, a measurement whiledrilling system, and a universal bottom hole assembly node module. Theuniversal bottom hole assembly node module is configured to provide twoway communication between the rotary steerable system and themeasurement while drilling system.

In another embodiment the application pertains to a bottom hole assemblysimilar to the one above wherein the universal bottom hole assembly nodemodule and stabilizer position are swapped. That is, the bottom holeassembly comprises an assembly node system having a first end and asecond end. The assembly node system comprises a mud motor configured topower the bottom hole assembly, a measurement while drilling system; anda universal bottom hole assembly node. The universal bottom holeassembly node module is configured to provide two way communicationbetween the rotary steerable system and the measurement while drillingsystem. The bottom hole assembly also comprises a rotary steerablesystem attached to the first end of the assembly node system. A drillbit is operably attached to the rotary steerable system at a rotarysteerable system end opposite the assembly node system. A stabilizerattached to the second end of the rotary steerable system.

In another embodiment the application pertains to a universal bottomhole assembly node module. The module comprises an azimuthal resistivitymodule, an azimuthal gamma module, a pressure while drilling module, orany combination thereof. The module also comprises a communicationsystem configured to provide two way communication between a rotarysteerable system and a measurement while drilling system. Thecommunication system comprises: (1) one or more datalinks configured fordirect connection to a rotary steerable system, a measurement whiledrilling system, or any combination thereof, or (2) one or more massisolators configured for direct connection to a rotary steerable system,a measurement while drilling system, or any combination thereof, or (3)one or more electromagnetic antennas configured for direct connection toa rotary steerable system, a measurement while drilling system, or anycombination thereof; or (4) any combination of (1), (2), and (3).

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the present invention, and many of theattendant advantages thereof, will be readily apparent as the presentinvention becomes better understood by reference to the followingdetailed description when considered in conjunction with theaccompanying drawings, in which like reference symbols indicate the sameor similar components, wherein:

FIG. 1. Illustrates a common integration of UBHAN between an RSS and amud motor for communications and/or real time measurements.

FIG. 1A. Illustrates UBHAN representative communication capabilities.

FIG. 2. Illustrates integration of UBHAN between an RSS and an MWD forcommunications and/or real time measurements.

FIG. 3. Illustrates integration of UBHAN between modules of MWD for realtime measurements.

FIG. 4. Illustrates integration of UBHAN above an MWD for real timemeasurements.

FIG. 5. Illustrates UBHAN for integration shown in FIG. 1 forcommunications using mass isolator (GAP) and/or real time measurements.

FIG. 6. Illustrates UBHAN for integration shown in FIG. 1 forcommunications using EM antenna and/or real time measurements.

FIG. 7. Illustrates UBHAN for integration shown in FIG. 2 and FIG. 3 forcommunications and/or real time measurements.

FIG. 8. Illustrates UBHAN for integration shown in FIG. 4. for real timemeasurements.

FIG. 9. Illustrates a representative design of UBHAN from FIG. 6 with EMantenna for communications and AziRes and PWD Measurements.

FIG. 10. Illustrates a representative design of UBHAN from FIG. 6 withEM antenna for communications and AziRes and AziG measurements.

FIG. 11. Illustrates a representative design of PWD module.

FIG. 12. Illustrates a representative design of AziRes module.

FIG. 13. Illustrates a computer model of the measurement flow of arepresentative AziRes module.

FIG. 14. Illustrates attenuation measurements of a representative AziResmodule.

FIG. 15. Illustrates an alternative configuration wherein UHBAN 1 ispositioned between stabilizer or centralizer 6 and RSS 2.

DETAILED DESCRIPTION OF THE INVENTION

The general inventive concept is described more fully below withreference to the accompanying drawings, in which exemplary embodimentsof the present invention are shown. As those skilled in the art wouldrealize, the described embodiments may be modified in various differentways, all without departing from the spirit or scope of the presentinvention. The present invention should not be construed as beinglimited to the embodiments. Accordingly, the drawings and descriptionare to be regarded as illustrative in nature to explain aspects of thepresent invention and not restrictive. Like reference numerals in thedrawings designate like elements throughout the specification, and thustheir description have not been repeated.

SPECIFIC EMBODIMENTS

FIG. 1 illustrates an embodiment of UBHAN 1—as it is attached to the RSS2 and the design for this configuration is illustrated in, for example,FIGS. 5, 6, 9 & 10. It should be noted that in each of theseconfigurations the position of the stabilizer 6 and UHBAN 1 can beswitched so that the UHBAN 1 is connected directly to the RSS 2 in frontof UHBAN 1 as shown in FIG. 15. In FIG. 1 the RSS 2 has the drill bit 5at the front end and stabilizer or centralizer 6 at the top end but analternative configuration is shown in FIG. 15. The RSS 2 may send datato the UBHAN 1 via a convenient manner such as a datalink as explainedlater or EM transmission over short distance. The data may comprisereadings for Inclination (Inc) and Azimuth (Az) of the RSS as minimumwhich is sometimes required by the Surface System (SS) 7 to calculatethe position of the RSS knowing the measured and vertical depth. Othermeasurements that may be sent are values for the Earth's magnetic andgravitational fields as in some cases these may be a quality check forthe sensors of the RSS. UBHAN 1 can send these values to the MWD 3 in aconvenient manner such as via short hop using mass isolator 9 (FIG. 5)or EM antenna 13 (FIG. 6) and, if desired, they are transmitted to theSS 7. UBHAN 1 may measures the AziRes and/or AziG and, if desired, sendat least a portion of these readings to the RSS to, for example, enablereal time geosteering. In some embodiments this may assist in avoiding adeleterious track such as exiting the productive layer and insteadstaying at some predetermined desired distance from the boundary. Atleast a portion up to all of the same values may be sent to the MWD 3and transmitted, if desired, to the SS for analysis and/ordecision-making. If, for example, real time well control and hydraulicsefficiency analysis are desired, then the UBHAN 1 may comprise a PWDmodule instead of or in addition to AziG and/or AziRes. The PWD modulemay provide pressure measurements which can, if desired, be sent to theMWD 3 and then, if desired, transmitted to an SS for potential analysisand/or decision making. Such analysis and/or decision making mayfacilitate avoiding a blowout by increasing the weight of the mud asjust one of many examples that are apparent to one of ordinary skillreading this application. Similarly, based on a hydraulic analysis apump rate could be increased or decreased to adjust hydraulic energylevel for drilling optimization and efficiency. Based on the datareceived the SS 7 may send to the MWD 3 and UBHAN 1 one or more commandsfor the RSS 2 and/or MWD, e.g., re-programming (mode change) for theMWD. In some embodiments the SS may send or downlink message and/orcommands to the RSS directly.

FIG. 2 illustrates different functionalities of the UBHAN 1. In thisparticular embodiment the MWD 3 is attached to the UBHAN 1 and below themotor 4. The RSS 2, a bit 5 and a centralizer 6 are generally in theconfiguration shown. The UBHAN 1 can provide data flow to and from RSS 2and MWD 3 via any convenient manner such as datalinks and/or thru bus,real time AziRes and/or AziG to the RSS 2 for real time geosteering andto the SS 7. The UBHAN design for this configuration is illustrated inFIG. 7 and for this specific application the UBHAN does not need (butcould have) short hop capability.

In some cases the MWD 3 may be run as a split system with UBHAN 1between bottom modules of the MWD 3A and top modules 3B as shown in FIG.3. In such a case UBHAN may provide real time measurements and data flowand thus may not need short hop capability.

FIG. 4 illustrates a configuration where UBHAN is above the MWD systemand sends the real time measurements to the RSS through it. For thisparticular configuration a representative design of UBHAN is shown onFIG. 8. As shown, it may provide the data directly to the MWD system andtherefore may not need a short hop transmission capability.

FIG. 9 illustrates a specific design of the UBHAN 1 as a blown upassembly drawing. That specific design comprises of an UBHAN module withbody 1 holding an AziRes module 10, a PWD module 11, a battery 12, anelectronics module 15, and an EM antenna 13. FIG. 10 shows an AziGmodule 17 instead of a PWD module. The EM antenna 13 in both FIGS. 9 and10 can be GAP. The electronics module 11 may comprise the electronicsfor power supplies, measurement transmitting and receiving circuits, MPUfor data analysis and/or processing, and/or transmitter and/or receiverfor the communications. As shown in FIGS. 5-10 the bottom datalink 8 mayfacilitate data communications in some embodiments.

FIG. 11 illustrates a representative PWD module 11 and it may compriseone or more of the following: Annulus pressure transducer andelectronics with an annulus pressure intake on top as shown. In thisembodiment the bore pressure transducer and electronics have a pressureintake on bottom as shown. The electronics of the pressure transducerstypically process data and values of both pressures may be sent to UBHANelectronics 15 for sending to MWD/SS, if desired. Based on these valuesthe SS 7 can, if desired, be configured to evaluate the need for wellcontrol measures (e.g. increasing the mud weight to prevent blowout) andoften this may be valuable real time data. The SS may evaluate theefficiency of, for example, drilling hydraulics and/or mud motorefficiency using, if desired, real time pressure values.

FIG. 12. Illustrates an Azimuthal Resistivity Module for UBHAN 10. TheAziRes module for UBHAN may contain a Transmitter 18, a Receiver 19, aReceiver 20, and electronics 21 comprising, for example, power supplies,transmitting and receiving circuitry, an MPU board for data processingand/or sending measurement data to UBHAN electronics for potentialsharing with an RSS, MWD, and/or SS.

One or more aspects of the azimuthal resistivity module for UBHAN 10 maybe shown in one or more embodiments of Modular Resistivity Sensor forDownhole Measurement While Drilling U.S. Pat. Nos. 10,337,322: 9,638,819and Patent Applications 20190277136 and 20180024266 which areincorporated herein by reference.

The UBHAN can have two AziRes modules when precise geosteering is neededand/or the prime application. The two modules will, for example, provideredundancy and very high precision boundary detection. To do the AziResmeasurements and distance to boundary, a tool face sensor is provided torecord the AziRes modules tool face angles as the UBHAN collar rotates.The tool face sensor can be a magnetometer, an accelerator, a gyroscopeor other tool face sensors known to one skilled in the art. Theresistivity measurements taken by the modular resistivity sensor canthen be paired with the tool face angle measurements to produce aresistivity image as a function of tool face and a function of depth.

A computer model is created to illustrate the azimuthal resolution of aside-mounted modular resistivity sensor. In the model, a sensor isplaced parallel to the bed boundary as illustrated in FIG. 13. ‘T’stands for the transmitting antenna 18 and ‘R1’ and ‘R2’ for thereceiving antennas 19 and 20. Both attenuation and phase difference aremeasured between the two receivers. The front side of the sensor isdefined as one facing the bed boundary and the back side faces theopposite direction. The difference in the attenuation and/ormeasurements between the front and the back sides gives an indication ofthe azimuthal resolution of the sensor. In general, the larger thedifference, the better azimuthal resolution the sensor will have.

FIG. 14 shows the differences in the attenuation measurements (in dB) inthe presence of a bed boundary separating a 1-ohmm bed from a 100-ohmmbed with the sensor in the 100-ohmm bed. The diameter of the collar inthis specific embodiment is 5 in. and the transmitter coil to the centerof the receiver coils is 8 in. The spacing between the two receivingcoils in this embodiment is 4 in. As illustrated in FIG. 7, it has beendiscovered that a higher frequency may help improve the azimuthalresolution of the sensor. Second, it has been discovered that theazimuthal resolution of the sensor decreases as the distance to the bedboundary increases. Third, it has been discovered that the front sidegenerally measures a higher attenuation than the back side. While notwishing to be bound to any particular theory this is likely because thefront side faces a more conductive bed. Hence, by measuring the toolface angles corresponding to the front and the back sides, it ispossible to determine the azimuthal direction of the bed boundaryrelative to the tool.

The foregoing description details certain preferred embodiments of thepresent invention and describes the best mode contemplated. It will beappreciated, however, that changes may be made in the details ofconstruction and the configuration of components without departing fromthe spirit and scope of the disclosure. Therefore, the descriptionprovided herein is to be considered exemplary, rather than limiting, andthe true scope of the invention is that defined by the following claimsand the full range of equivalency to which each element thereof isentitled.

What is claimed is:
 1. A bottom hole assembly comprising: (1) astabilizer wherein a first stabilizer end is operably attached to afirst end of a rotary steerable system; (2) a drill bit operablyattached to a second end of the rotary steerable system; (3) an assemblynode system attached to a second stabilizer end;  wherein the assemblynode system comprises: (a) a mud motor configured to power the bottomhole assembly; (b) a measurement while drilling (MWD) system; and (c) auniversal bottom hole assembly node module wherein the universal bottomhole assembly node module is configured to provide direct two waycommunication between the rotary steerable system and the measurementwhile drilling system, wherein the universal bottom hole assembly nodemodule is configured to receive, from the MWD system, one or morecorrection commands associated with following a boundary at apredetermined distance to enable real-time geosteering and wherein theuniversal bottom hole assembly node module further comprises a pressurewhile drilling module.
 2. The bottom hole assembly of claim 1, whereinthe universal bottom hole assembly node module further comprises atleast one selected from the group of an azimuthal resistivity module, anazimuthal gamma module, or any combination thereof.
 3. The bottom holeassembly of claim 1, wherein the two way communication comprisesproviding azimuthal resistivity values to the measurement while drillingsystem and to the rotary steerable system and wherein the bottom holeassembly is configured to make real time geosteering decisions basedupon at least a portion of the provided azimuthal resistivity values. 4.The bottom hole assembly of claim 1, wherein the two way communicationcomprises providing azimuthal gamma values to the measurement whiledrilling system and to the rotary steerable system and wherein thebottom hole assembly is configured to make real time geosteeringdecisions based upon at least a portion of the provided azimuthal gammavalues.
 5. The bottom hole assembly of claim 1, wherein the two waycommunication comprises providing both azimuthal resistivity values andazimuthal gamma values to the measurement while drilling system and tothe rotary steerable system and wherein the bottom hole assembly isconfigured to make real time geosteering decisions based upon at least aportion of the provided data.
 6. The bottom hole assembly of claim 1,wherein the universal bottom hole assembly node module are configured toprovide, via an antenna the two way communication between the rotarysteerable system and the measurement while drilling system.
 7. Thebottom hole assembly of claim 1, wherein one or more electromagneticantennas are configured for direct connection to the rotary steerablesystem and the measurement while drilling system.
 8. The bottom holeassembly of claim 1, wherein the two way communication comprisesproviding data from the bottom hole assembly to the universal bottomhole assembly node module and the measurement while drilling system. 9.The bottom hole assembly of claim 1, wherein the universal bottom holeassembly node module is configured to communicate with a surface systemthru the MWD.
 10. The bottom hole assembly of claim 1, wherein theuniversal bottom hole assembly node module comprises a pressure whiledrilling module to measure well bore pressure values and wherein theuniversal bottom hole assembly node is configured to communicate wellbore pressure values to a surface system thru the MWD.
 11. The bottomhole assembly of claim 1, wherein the universal bottom hole assemblynode module is configured to communicate internal drill string pressurevalues to a surface system thru the MWD.
 12. The bottom hole assembly ofclaim 1, wherein the measurement while drilling system is configured tocommunicate with a surface system.
 13. The bottom hole assembly of claim1, wherein bottom hole assembly is configured to communicate with asurface system thru the universal bottom hole assembly node module. 14.The bottom hole assembly of claim 1, wherein the universal bottom holeassembly node module comprises one or more datalinks for directconnection to the rotary steerable system, the measurement whiledrilling system, or any combination thereof.
 15. The bottom holeassembly of claim 1, wherein the universal bottom hole assembly nodemodule comprises a thru bus for integration into the measurement whiledrilling system.
 16. The bottom hole assembly of claim 1, wherein theuniversal bottom hole assembly node module is self-powered.
 17. Thebottom hole assembly of claim 1, wherein the universal bottom holeassembly node module is powered by a battery.
 18. The bottom holeassembly of claim 1, wherein the universal bottom hole assembly nodemodule comprises an azimuthal resistivity module.
 19. A universal bottomhole assembly node module comprising: a pressure while drilling module;and a communication system configured to provide direct two waycommunication between a rotary steerable system and a measurement whiledrilling (MWD) system, wherein the communication system comprises: (1)one or more datalinks configured for direct connection to the rotarysteerable system, the measurement while drilling system, or anycombination thereof; or (2) an antenna configured for direct connectionto the rotary steerable system, the measurement while drilling system,or any combination thereof; or (3) one or more electromagnetic antennasconfigured for direct connection to the rotary steerable system, themeasurement while drilling system, or any combination thereof; or (4)any combination of (1), (2), and (3), wherein the MWD system isconfigured to transmit one or more correction commands associated withfollowing a boundary at a predetermined distance to enable real-timegeosteering.
 20. A bottom hole assembly comprising: (1) an assembly nodesystem having a first end and a second end wherein the assembly nodesystem comprises: (a) a mud motor configured to power the bottom holeassembly; (b) a measurement while drilling (MWD) system; and (c) auniversal bottom hole assembly node wherein the universal bottom holeassembly node module is configured to provide direct two waycommunication between the rotary steerable system and the measurementwhile drilling system; (2) a rotary steerable system (RSS) attached tothe first end of the assembly node system wherein a drill bit isoperably attached to the rotary steerable system at a rotary steerablesystem end opposite the assembly node system, wherein the universalbottom hole assembly node module is configured to transmit one or morecorrection commands associated with following a boundary at apredetermined distance to enable real-time geosteering from the MWDsystem to the RSS; and (3) a stabilizer attached to the second end ofthe rotary steerable system; wherein the universal bottom hole assemblynode further comprises a pressure while drilling module.
 21. The bottomhole assembly of claim 20, wherein the universal bottom hole assemblynode module comprises an azimuthal resistivity module.